2026-03-24T08:28:03 - INFO: MSIP3D 0.2.0rc3
2026-03-24T08:28:03 - INFO: P3D files will be output to /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223
2026-03-24T08:28:04 - INFO: Found 11 TFD dictionary entries
2026-03-24T08:28:04 - INFO: Found TFD mission for SJ502828 DEP 520
2026-03-24T08:28:04 - INFO: Recording will be processed as SMD
2026-03-24T08:28:04 - INFO: Copying assets JSON to output directory...
2026-03-24T08:28:04 - INFO: Preparing counter data...
2026-03-24T08:28:04 - INFO: Interpreting counter as imperial
2026-03-24T08:28:04 - INFO: Preparing size track from assets JSON...
2026-03-24T08:28:04 - INFO: Preparing shape track from assets JSON...
2026-03-24T08:28:04 - INFO: Preparing material track from assets JSON...
2026-03-24T08:28:04 - INFO: Prepared counter data in 0.1925 s
2026-03-24T08:28:04 - INFO: Extracting sonar data...
TFD path: /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/SJ502828_DEP_520.tfd
TFD path: /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/output
Name: CCTV, Tag: 4855221467469924931
Name: Checkpoint, Tag: 4857243675797774090
Name: Dictionary, Tag: 18446744073709551615
Name: CCTV, Tag: 4855215978501720643
Name: SONAR_SENSOR_DATA, Tag: 6012079244958845523
Name: Index, Tag: 5291276999180902239
Name: SONAR, Tag: 6012079244958847671
Name: MISSION_FILE, Tag: 5073671569755687501
Name: LASER, Tag: 4855215978501720652
Getting track SONAR
Number of frames: 1457
18 / 1457 [>___________________________________________________________________________] 1.24% ? p/s38 / 1457 [->__________________________________________________________________________] 2.61% ? p/s57 / 1457 [-->_________________________________________________________________________] 3.91% ? p/s76 / 1457 [--->_______________________________________________________________________] 5.22% 97 p/s94 / 1457 [---->______________________________________________________________________] 6.45% 97 p/s112 / 1457 [----->____________________________________________________________________] 7.69% 97 p/s131 / 1457 [------>___________________________________________________________________] 8.99% 96 p/s150 / 1457 [------->_________________________________________________________________] 10.30% 96 p/s168 / 1457 [-------->________________________________________________________________] 11.53% 96 p/s186 / 1457 [--------->_______________________________________________________________] 12.77% 96 p/s206 / 1457 [---------->______________________________________________________________] 14.14% 96 p/s224 / 1457 [----------->_____________________________________________________________] 15.37% 96 p/s243 / 1457 [------------>____________________________________________________________] 16.68% 96 p/s262 / 1457 [------------->___________________________________________________________] 17.98% 96 p/s282 / 1457 [-------------->__________________________________________________________] 19.35% 96 p/s301 / 1457 [--------------->_________________________________________________________] 20.66% 96 p/s321 / 1457 [---------------->________________________________________________________] 22.03% 96 p/s341 / 1457 [----------------->_______________________________________________________] 23.40% 96 p/s361 / 1457 [------------------>______________________________________________________] 24.78% 96 p/s381 / 1457 [------------------->_____________________________________________________] 26.15% 96 p/s401 / 1457 [-------------------->____________________________________________________] 27.52% 96 p/s421 / 1457 [--------------------->___________________________________________________] 28.89% 96 p/s442 / 1457 [---------------------->__________________________________________________] 30.34% 96 p/s461 / 1457 [----------------------->_________________________________________________] 31.64% 96 p/s481 / 1457 [------------------------>________________________________________________] 33.01% 97 p/s502 / 1457 [------------------------->_______________________________________________] 34.45% 97 p/s522 / 1457 [-------------------------->______________________________________________] 35.83% 97 p/s543 / 1457 [--------------------------->_____________________________________________] 37.27% 97 p/s563 / 1457 [---------------------------->____________________________________________] 38.64% 97 p/s584 / 1457 [----------------------------->___________________________________________] 40.08% 97 p/s605 / 1457 [------------------------------>__________________________________________] 41.52% 98 p/s626 / 1457 [------------------------------->_________________________________________] 42.96% 98 p/s645 / 1457 [-------------------------------->________________________________________] 44.27% 98 p/s666 / 1457 [--------------------------------->_______________________________________] 45.71% 98 p/s687 / 1457 [---------------------------------->______________________________________] 47.15% 98 p/s708 / 1457 [----------------------------------->_____________________________________] 48.59% 98 p/s729 / 1457 [------------------------------------>____________________________________] 50.03% 98 p/s749 / 1457 [------------------------------------->___________________________________] 51.41% 98 p/s767 / 1457 [-------------------------------------->__________________________________] 52.64% 98 p/s786 / 1457 [--------------------------------------->_________________________________] 53.95% 98 p/s805 / 1457 [---------------------------------------->________________________________] 55.25% 98 p/s826 / 1457 [----------------------------------------->_______________________________] 56.69% 98 p/s846 / 1457 [------------------------------------------>______________________________] 58.06% 98 p/s866 / 1457 [------------------------------------------->_____________________________] 59.44% 98 p/s885 / 1457 [-------------------------------------------->____________________________] 60.74% 98 p/s905 / 1457 [--------------------------------------------->___________________________] 62.11% 98 p/s925 / 1457 [---------------------------------------------->__________________________] 63.49% 98 p/s945 / 1457 [----------------------------------------------->_________________________] 64.86% 98 p/s965 / 1457 [------------------------------------------------>________________________] 66.23% 98 p/s986 / 1457 [------------------------------------------------->_______________________] 67.67% 98 p/s1006 / 1457 [------------------------------------------------->______________________] 69.05% 98 p/s1025 / 1457 [-------------------------------------------------->_____________________] 70.35% 98 p/s1046 / 1457 [--------------------------------------------------->____________________] 71.79% 98 p/s1067 / 1457 [---------------------------------------------------->___________________] 73.23% 98 p/s1088 / 1457 [----------------------------------------------------->__________________] 74.67% 99 p/s1109 / 1457 [------------------------------------------------------>_________________] 76.12% 99 p/s1130 / 1457 [------------------------------------------------------->________________] 77.56% 99 p/s1152 / 1457 [-------------------------------------------------------->_______________] 79.07% 99 p/s1173 / 1457 [--------------------------------------------------------->______________] 80.51% 99 p/s1194 / 1457 [----------------------------------------------------------->____________] 81.95% 99 p/s1215 / 1457 [----------------------------------------------------------->___________] 83.39% 100 p/s1234 / 1457 [------------------------------------------------------------>__________] 84.69% 100 p/s1254 / 1457 [------------------------------------------------------------->_________] 86.07% 100 p/s1275 / 1457 [-------------------------------------------------------------->________] 87.51% 100 p/s1295 / 1457 [--------------------------------------------------------------->_______] 88.88% 100 p/s1313 / 1457 [--------------------------------------------------------------->_______] 90.12% 100 p/s1333 / 1457 [---------------------------------------------------------------->______] 91.49% 100 p/s1354 / 1457 [----------------------------------------------------------------->_____] 92.93% 100 p/s1374 / 1457 [------------------------------------------------------------------>____] 94.30% 100 p/s1394 / 1457 [------------------------------------------------------------------->___] 95.68% 100 p/s1414 / 1457 [-------------------------------------------------------------------->__] 97.05% 100 p/s1433 / 1457 [--------------------------------------------------------------------->_] 98.35% 100 p/s1454 / 1457 [---------------------------------------------------------------------->] 99.79% 100 p/s1457 / 1457 [----------------------------------------------------------------------] 100.00% 101 p/s2026-03-24T08:28:18 - INFO: Parsing 1457 sonar sweeps from /working/73936444-88dc-73e6-66fd-1462a3391223/tfd/output/SONAR/all-sweeps-info.csv...

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2026-03-24T08:29:13 - INFO: Running DataPrep with "python -m dataprep --force --no-counter --no-video --no-laser --sonar --sonar-format cbor --temperature 17.8 --salinity 0 --pressure 0 --sonar-cluster-size 15 --sonar-mask-angle 120 --sonar-despike /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223"
2026-03-24T08:29:15 - INFO: DataPrep 0.14.0rc3
2026-03-24T08:29:15 - INFO: Prepared data will be output to /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223/processing/data
2026-03-24T08:29:15 - deployment - WARNING: No CCTV directory, defaulting to P3D 1.0
2026-03-24T08:29:15 - deployment - INFO: Detected P3D version: P3D_1
2026-03-24T08:29:15 - INFO: Recording GUID: 73936444-88dc-73e6-66fd-1462a3391223
2026-03-24T08:29:15 - INFO: Preparing sonar data...
2026-03-24T08:29:15 - INFO: /working/73936444-88dc-73e6-66fd-1462a3391223/73936444-88dc-73e6-66fd-1462a3391223/sonar/sonar.dat has metadata version 0.1 (0x00000001)
2026-03-24T08:29:16 - INFO: Sonar epoch is 2026-02-22 22:00:20.642585+00:00 (1771797620642585129)
2026-03-24T08:29:16 - INFO: Creating sonar sensor alignment track...
2026-03-24T08:29:16 - INFO: Using sonar rotation of -0.017453 radians for wedge mask
2026-03-24T08:29:16 - INFO: Sonar configured speed of sound was 1500 m/s
2026-03-24T08:29:16 - INFO: Sonar range is 2.094960 m
2026-03-24T08:29:16 - INFO: Speed of sound is 1472.424156 m/s
2026-03-24T08:29:16 - INFO: Processing 1457 sweeps...

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2026-03-24T08:29:21 - INFO: Prepared sonar data in 6.5647 s
2026-03-24T08:29:21 - INFO: No IMU data found
2026-03-24T08:29:21 - INFO: DataPrep took 0:00:06.768690
2026-03-24T08:29:22 - INFO: Extracted sonar data in 0:01:17.810336
2026-03-24T08:29:22 - INFO: MSIP3D took 0:01:18.128007